Emergency Object (Emcy); Application Of The Emergency Object; Composition Of The Emergency Object - Kollmorgen AKD User Manual

AKD CANopen | 6 CANopen Communication Profile

6.4.4 Emergency Object (EMCY)

EMCY is event-triggered and generated by an internal fault/error situation. This object is transmitted afresh for
every error. Since the error codes are device-dependent, they are described in the Chapter ""CANopen Emer-
gency Messages and Error Codes" (=> p. 42)". The last 10 Emergency error codes can be read via object 1003.

6.4.4.1 Application of the Emergency Object

The reaction in the event of an error or fault depends on the error class and is therefore variable. For this reason,
the reaction is described with the aid of an error status machine. The error conditions error- free and error
occurred are distinguished. The following transitions are defined:
Transition 0: After initialization, the error-free status is taken up if no errors are detected.
No error signal is generated in this condition.
Transition1: The AKD detects an internal error and indicates this in the first three bytes
of the emergency telegram (error code in Bytes 0,1 and error register in Byte 2).
Transition2: One error has been reset, but not all. The EMCY telegram contains error code 0000
and the error register indicates the remaining errors that are present. The manufacture-specific area is set to
zero.
Transition3: A new error has occurred. The AKD remains in the error status and transmits an EMCY. Object
with the corresponding error code. The new error code is entered into bytes 0 and 1.
Transition4: All errors have been reset. The EMCY telegram contains the error code 0000,
The error register does not indicate any other errors. The manufacture-specific area is set to zero.

6.4.4.2 Composition of the Emergency Object

The Emergency Object is composed of 8 bytes, divided as follows:
Byte 0 1 2 3 4 5 6 7
Content Emergency error code Error register (object 1001 Category Reserved
If an Emergency Object is generated, the error condition is then signaled to the status machine (error free/error
occurred) by the generation of a second Emergency Object. Only the first four bytes are relevant in this case
(Emergency Error code , Error register, Category). Byte 0/1 contains the Emergency Error Code (0000) and Byte
2 indicates if a possible further error is present. If the error register contains 00, the error status is error-free. Byte
3 contains the category. The interpretations of the error numbers (error code) and the error categories are
described in the section Emergency Messages. The error register is defined through object 1001. Error register´.
Kollmorgen™ | November 2012 33